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"Also note that every sinlge RC helicopter sicne around 2004 is using a gyroscope altering tail rotor pitch, called often fligth stabilisation etc but it doesn't makes the flight autonomous. A multicopter with so-called autopilot with 3-axis…"

""limits testing to VLOS (visual line of sight) instead of autonomous flight," This phrase shows misunderstanding of the subject. VLOS/BLOS means range of operation. It deoasnt defines if this is autonomous or not. A flight withing VLOS can…"

"@Hugues, I don't know of one yet, but if the control systems are there already, its just a matter of time waiting for the hardware to catch up. Perhaps the new Qualcomm vision system boards could be put to the test when released?"

"3D spatial localization to do this requires centimeters or even millimetric precision. That is possible in such a lab environment with the camera based motion system. I do not know yet of a technology that would allow this to work outdoors ?"

"it's described in the linked article. They use a camera based motion capture system.
"The project was developed at the Flying Machine Arena [4], a research and demonstration platform for aerial robotics. The arena is equipped with a motion…"

Τhis video shows tethered quadrocopters flying steadily together at high speeds exceeding 50 km/h in a confined space. With the tether exerting more than 13 gs of centripetal force, multiple quadrotors are able to fly 1.7m- radius circular trajectories in formation across different orientations in space and then successfully perform a coordinated braking…